Keuronde/2026-Propulsion
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Reception des données du PAMI, diminution des gains d'asservissement

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This commit is contained in:
Samuel 2026-04-18 09:53:34 +02:00
parent 71ccb57220
commit bda33196ec
3 changed files with 7 additions and 7 deletions
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4
Asser_Moteurs.c
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@ -2,8 +2,8 @@
#include "Moteurs.h"
#include "Asser_Moteurs.h"
#define ASSERMOTEUR_GAIN_P 300000.f
#define ASSERMOTEUR_GAIN_I 30000.f
#define ASSERMOTEUR_GAIN_P 30000.f
#define ASSERMOTEUR_GAIN_I 3000.f
float consigne_mm_s[3]; // Consigne de vitesse (en mm/s)
float commande_I[3]; // Terme integral

4
Asser_Position.c
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@ -2,8 +2,8 @@
#include "Commande_vitesse.h"
#include "math.h"
#define GAIN_P_POSITION 15
#define GAIN_P_ORIENTATION 10
#define GAIN_P_POSITION 5
#define GAIN_P_ORIENTATION 5
#define MAX_ERREUR_ANGLE (30 * DEGRE_EN_RADIAN)

6
main.c
View File

@ -199,7 +199,7 @@ void main(void)
msg_trajectoire.trajectoire.p4.x, msg_trajectoire.trajectoire.p4.y);
trajectoire = msg_trajectoire.trajectoire;
mode = 4;
Trajet_config(100, 100);
Trajet_config(200, 100);
// Oh la la !
}
@ -212,10 +212,10 @@ void main(void)
registre = message.donnees[2];
if(id_carte == 'D'){
if(message.donnees[4] > 0 && message.donnees[4] < 30){
printf("LED ON\n");
//printf("LED ON\n");
gpio_put(PICO_DEFAULT_LED_PIN, 1);
}else{
printf("LED OFF\n");
//printf("LED OFF\n");
gpio_put(PICO_DEFAULT_LED_PIN, 0);
}
}